User`s guide

; Create the local reference frame "pallet.frame"

SET pallet.frame = FRAME(loc.origin, loc.x.axis,loc.pos.y, loc.origin)

cell.space = 50 ;Spacing of cells on pallet

; Remove the palletized items

FOR i = 0 TO 3

FOR J = 0 TO 2

APPRO pallet.frame:TRANS(i*cell.space, j*cell.space), 25

MOVE pallet.frame:TRANS(i*cell.space, j*cell.space)

BREAK ;Settle robot

CLOSEI ;Grab the part

DEPART 25 ;MOVE to the drop off location

END

In the above example, the code that teaches the pallet frame must run only when the pallet

location changes.

If you are building an assembly that does not have regularly spaced locations like the above

example, the following code teaches individual locations relative to the frame:

; Get the locations to define the pallet frame

DETACH () ;Release robot for use by the MCP

PROMPT "Place robot at assembly origin. ", $ans

HERE loc.origin ;Record the frame origin

PROMPT "Place robot at point on the assm. x-axis. ", $ans

HERE loc.x.axis ;Record point on x-axis

PROMPT "Place robot at point in positive y direction. ", $ans

HERE loc.pos.y ;Record positive y direction

; Create the local reference frame "assm.frame"

SET assm.frame = FRAME(loc.origin, loc.x.axis, loc.pos.y, loc.origin)

; Teach the locations on the assembly

PROMPT "Place the robot in the first location. ", $ans

HERE assm.frame:loc.1 ;Record the first location

PROMPT "Place the robot in the second location. ", $ans

HERE assm.frame:loc.2 ;Record the second location

; etc.

; Move to the locations on the assembly

ATTACH () ;Reattach the robot

Creating and Altering Location Variables

V+Language User's Guide, v17.0

Page 178